Euler-Lagrange Solver

Version 1.0.2 (4.13 KB) by Morten Veng
A function that solves the Euler-Lagrange Equations using the Symbolic Math Toolbox.
5.0
(1)
682 Downloads
Updated 7 Jul 2021

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A function that solves the Euler-Lagrange Equations using the Symbolic Math Toolbox. It comes with three examples: 1) a generic point-mass model, 2) a 6-DOF quadrotor model and 3) an inverted pendulum-cart model.

Cite As

Morten Veng (2026). Euler-Lagrange Solver (https://www.mathworks.com/matlabcentral/fileexchange/93275-euler-lagrange-solver), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2021a
Compatible with R2017b and later releases
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.0.2

Improved comments, reduced code size and added another use-case example: the inverted pendulum cart system.
1.0.1

Fixed a bug where the time derivative of the multi-variate expression is wrongly calculated. The updated version uses 'Jacobian' instead of 'diff' to account for cross-dependencies between states.
1.0.0